Adaptive Control of PMSM Based on Nonlinear Disturbance Observe.

In this paper, an adaptive backstepping controller is investigated to obtain high tracking performance for permanent magnet synchronous motor (PMSM) with external load torque changing and system parameter uncertainties. A nonlinear disturbance observer (NDOB) is proposed to observe and compensate the lumped disturbance and uncertainties in real time. Then, an adaptive upper limitation is designed to estimate the bound of NDOB and the lumped disturbance to reduce the system control gain. Besides, an adaptive estimation law is designed for online identification of parameter R, which is prone to parameter perturbation. The simulation results confirm the effectiveness of the designed control method.